CN112809745B - Method for detecting movement posture adjustment of robot - Google Patents
Method for detecting movement posture adjustment of robot Download PDFInfo
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- CN112809745B CN112809745B CN202110116625.4A CN202110116625A CN112809745B CN 112809745 B CN112809745 B CN 112809745B CN 202110116625 A CN202110116625 A CN 202110116625A CN 112809745 B CN112809745 B CN 112809745B
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- 238000000034 method Methods 0.000 title claims abstract description 40
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 37
- 238000001514 detection method Methods 0.000 claims abstract description 19
- 239000012530 fluid Substances 0.000 claims abstract description 19
- 230000001133 acceleration Effects 0.000 claims description 20
- 230000002093 peripheral effect Effects 0.000 claims description 19
- 238000005452 bending Methods 0.000 claims description 10
- 230000001276 controlling effect Effects 0.000 claims description 9
- 238000009987 spinning Methods 0.000 claims description 4
- 238000013459 approach Methods 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 claims description 3
- 230000001105 regulatory effect Effects 0.000 claims description 3
- 230000008569 process Effects 0.000 abstract description 5
- 239000007788 liquid Substances 0.000 description 11
- 230000007547 defect Effects 0.000 description 4
- 238000011144 upstream manufacturing Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000010191 image analysis Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
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- 238000006467 substitution reaction Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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Abstract
The invention relates to a method for detecting movement gesture adjustment of a robot, which comprises the following steps: step A, acquiring the moving speed and the moving position of a main carrier in a pipeline; step B, under normal conditions, the main carrier drifts on the middle runner in the flow direction of the fluid of the pipeline; when entering the influence area of the leakage point, the autorotation propeller at the windward side starts to rotate under the influence of the vortex of water, and the main carrier is offset towards the direction of the leakage point; the vortex near the leakage point can be timely sensed, and the vortex is converted into the driving force for the movement of the main carrier through the bevel gear and the conical toothed ring, so that the main carrier is prevented from being impacted greatly and is harmful; and C, after the main carrier deviates from the middle runner, driving the active balance propellers symmetrically arranged with the autorotation propellers to rotate so as to drive the main carrier to return to the middle runner, thereby ensuring that the main carrier of the detection robot flows in the middle runner, realizing the operation of carrying water and ensuring the reliability of the detection process.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a method for detecting movement posture adjustment of a robot.
Background
The automatic detection is widely applied to various fields of daily life of people, however, the degree of automation is lower in the detection field of large-scale liquid transmission pipelines (such as water supply pipes, water discharge pipes, oil delivery pipes and the like), the pipeline periscope can only be used for single-point detection, and the result of the whole pipeline cannot be obtained; the pipeline closed circuit television monitoring adopts a video monitoring system, and the internal condition of the pipeline is recorded by means of a crawler with a camera lens through wired control so as to determine the internal defect of the pipeline. The pipeline closed circuit television is monitored to be in wired control, so that the operation is inconvenient, and meanwhile, the acquired video data lack of accurate position information; the pipeline sonar equipment has high cost and is complex to operate; the personnel enter the detection mode and need a lot of personnel to participate in, intensity of labour is big, and inefficiency, constructor exists certain security risk simultaneously. The operation with water cannot be realized.
Disclosure of Invention
The invention aims to solve the technical problems that: the method for adjusting the movement posture of the detection robot can ensure that the main carrier of the detection robot flows in the middle runner, realize the operation of carrying water and ensure the reliability of work.
A method of detecting robot movement gesture adjustment, comprising:
step A, acquiring the moving speed and the moving position of a main carrier of a movable detection robot in a pipeline;
b, symmetrically arranging a plurality of pairs of autorotation propellers and active balance propellers along the radial direction on the peripheral side of the main carrier, wherein the autorotation propellers and the active balance propellers are staggered in the axial direction of the main carrier;
normally, the main carrier drifts in the flow direction of the fluid of the pipe over the intermediate flow channel; when entering the influence area of the leakage point, the autorotation propeller at the windward side starts to rotate under the influence of the vortex of water, and the main carrier is offset towards the direction of the leakage point;
and C, driving an active balance propeller which is symmetrically arranged with the autorotation propeller to rotate, and driving the main carrier to return to the middle runner.
Preferably, step B further comprises:
and dynamically driving one or more active balance propellers to rotate respectively according to the bending and trend conditions of the pipeline at the position of the main carrier, and balancing the influence of the bending and trend changes of the pipeline on the deviation of the main carrier from the middle flow passage so as to drive the main carrier to be kept on the middle flow passage.
Preferably, three pairs of autorotation propellers and active balance propellers are arranged on the peripheral side of the same position of the main carrier, and the autorotation propellers and the active balance propellers are arranged at intervals.
Preferably, at least six pairs of autorotation propellers are arranged on the peripheral side of the main carrier, and the autorotation propellers and the active balance propellers at adjacent positions in the peripheral axial direction of the main carrier are arranged at intervals.
The autorotation propellers and the active balance propellers at adjacent positions in the axial direction of the main carrier are staggered by 45 degrees.
Preferably, after step C, the method further comprises:
d, an encoder is arranged on one side of the autorotation propeller, and is used for acquiring the rotation angular velocity, the acceleration and the rotation number of the autorotation propeller on the windward side of the main carrier and transmitting the rotation angular velocity, the acceleration and the rotation number of the autorotation propeller to a remote control terminal in a wireless mode;
and E, the remote control terminal calculates the flow speed and flow quantity flowing to the suspected leakage point by combining the acquired moving speed and position of the main carrier in the pipeline, the rotating angular speed, the acceleration and the rotating number of turns of the rotating propeller, and calculates the leakage quantity and the leakage speed of the suspected leakage point, thereby judging and calculating the position and the size of the suspected leakage point in the pipeline.
Preferably, after step D, before step E, the method further comprises:
step D1: extracting data of the main carrier deviating from the middle runner, and judging to enter a suspected leakage point influence area when the main carrier continuously deviates from the middle runner and moves for more than a set duration and a set distance;
the set duration is more than 2S; the set distance is more than 15% of the radius of the pipeline;
e, after the main carrier enters a suspected leakage point influence area, starting the step E; otherwise, step E is not started.
Preferably, after a gap leakage occurs at a certain position of the liquid conveying pipeline, liquid in the pipeline flows to the gap while flowing forwards, the main carrier radially deflects, the autorotation propeller at the position of the upstream direction (the direction of fluid flowing to the leakage gap or the leakage point) rotates first, and the rotating starting area is judged to be the starting range of the suspected leakage point influence area. The suspected leakage point influence area comprises: the main carrier gradually approaches the leakage point from far to near and is affected by the flow field of the suspected leakage point; or the main carrier gradually leaves the suspected leakage point from the far to the near and then from the near to the far, and is influenced by the flow field of the suspected leakage point.
Step E further comprises: measuring the distance between the main carrier and the fluid of the offset pipeline by an infrared range finder; the infrared range finders are multiple, and the infrared range finders are distributed on the periphery of the main carrier. The influence of bending and steering of the pipeline on the movement of the main carrier is separated by combining the distance between the main carrier and the peripheral side of the pipeline, which is measured by the infrared range finder, and the situation that the main carrier deviates from the middle flow channel; the active balance propeller is driven to work, the trend of the main carrier is regulated, and the influence of bending and steering of the pipeline on the deviation of the main carrier from the middle of the runner is removed.
In the embodiment, more than 2 rear propulsion propellers are sequentially arranged at the rear part of the main carrier;
the rear propulsion propellers adopt nested shafts, and each rear propulsion propeller corresponds to one of the nested shafts;
the number of the individual self-rotating propellers is more than 4,
the inner side of each autorotation propeller is coaxially connected with a bevel gear, and each bevel gear is meshed with a conical toothed ring in a main carrier;
each conical toothed ring is sleeved on one of the sleeved shafts.
The main carrier can deviate from the center to move under the influence of the water flow direction before and after the leakage point, and at the moment, the autorotation propeller at the upstream side starts to rotate, and the lateral thrust is converted into the forward moving power by the bevel gear, the conical toothed ring and the rear propulsion propeller, so that the damage is reduced.
Preferably, after step B, before step C, further comprises:
step X, judging whether the main carrier enters a leakage point influence area, if so, delaying the main carrier to enter the step C, enabling the main carrier to deviate from the center of the pipeline under the influence of vortex, and when the distance between the main carrier and the suspected leakage point reaches a set value, starting an active balance screw, controlling the rotating speed and the rotating time of the active balance screw, thereby controlling the distance between the main carrier and the middle of the flow channel, and enabling a camera to photograph the suspected leakage point; and C, entering a step after photographing is finished. The method has the advantages that the image acquisition is started after the suspected leakage point is found, the electric energy is saved, the workload of image transmission is reduced, the workload of image analysis is reduced, the defects of the prior art are overcome, and the pipeline leakage point can be accurately, quickly and long-distance found.
Preferably, the number of cameras is more than 3, the cameras are uniformly distributed on the periphery of the main carrier, and the cameras are positioned at the lower part of the active balance propeller; each active balance screw propeller rotates synchronously, so that the surface of the camera can be cleaned.
Preferably, a balancing weight and an inflation and deflation adjusting mechanism are arranged in the main carrier, and the draft of the main carrier is controlled so as to control the main carrier to be positioned at a position close to the middle in the vertical direction of the pipeline under the conventional condition;
normal situation means: the pipeline is not bent, has no side flow, is not turned and is not leaked.
Preferably, the front end of the main carrier is provided with a main propulsion propeller, and the main propulsion propeller drives the main carrier to advance along the pipeline conveying direction by means of the driving force of water flow. The main propulsion propeller mainly realizes the movement of the whole system by means of the thrust of water flow, can save electric energy and solves the problems of power and long-distance movement.
The main propulsion propeller is provided with a miniature flowmeter; the flow velocity difference between the main carrier and the liquid in the pipeline is calculated by the micro flowmeter.
Preferably, the main carrier is cylindrical, the front side and the rear side of the main carrier are respectively provided with the main propulsion propeller and the rear propulsion propeller, the main propulsion propeller extends out of the outer side of the main carrier, and the rear propulsion propeller is positioned in the retraction hole of the rear side of the main carrier.
Preferably, more than 3 blades of the main propulsion propeller are provided with openable water leakage holes; the front end of the main carrier is provided with a pressure relief hole, the water inlet end of the pressure relief hole is positioned at the front end of the main carrier, and the water outlet end of the pressure relief hole is positioned at the side part of the front end of the main carrier.
Preferably, the main control module drives each active balance propeller to rotate through a motor respectively so as to correct that the main carrier is positioned on the middle runner of the pipeline; or, the main carrier can be arranged at any needed hovering position by controlling the rotating speed of each active balance propeller, the counterweight and the exhaust amount of the main carrier, so that a good visual angle is provided for image acquisition.
Preferably, the outer side wall of the main carrier is provided with an array step hole, the autorotation propeller is embedded in the outer hole part of the step hole, and the installation shaft of the autorotation propeller penetrates through the inner hole part of the step hole and stretches into the main carrier.
Preferably, the outer sides of the main propulsion propeller, the rear propulsion propeller, the autorotation propeller, the active balance propeller and the pressure relief holes are provided with protective covers.
Preferably, the method provided by the invention can be used for an online detection system of a pipeline (the diameter of the pipeline is more than 1 meter), and adopts a wireless mode to carry out data transmission and image shooting, so that the defects of the prior art are overcome, and the pipeline leakage point is accurately and rapidly found. With the increase of service life of large-scale water delivery engineering, pollution discharge engineering, rainwater delivery and other pipeline systems, the pipeline systems inevitably have damages such as aging, cracks, corrosion and the like under the long-term actions of working environments and delivery raw materials, thereby causing potential accidents such as liquid leakage, pipeline burst and the like, and being capable of timely finding out whether the leakage points of the pipeline are significant to the repair of the pipeline and the production and life of people.
The connecting shaft of each bevel gear and the rotating propeller is provided with an encoder for measuring the angular speed and the number of rotations of the rotating propeller, a main control module is arranged in the main carrier, the main control module transmits the angular speed and the number of rotations of the rotating propeller to a remote control terminal in a wireless mode, and the remote control terminal can determine the size and the position of a suspected leakage point according to the angular speed, the acceleration and the number of rotations of the rotating propeller.
The main carrier is heavy at the bottom and light at the upper part, can move in the pipeline along the liquid flowing direction in a relatively stable posture, is internally provided with a main control module, can keep an upright state in the moving process, is convenient for the positioning and working of each rotating screw propeller, and the remote control terminal judges the fluid environment at the periphery of the main carrier according to the rotation angular velocity, the acceleration and the rotation number of each rotating screw propeller, so that an improved method for detecting the movement posture adjustment of the robot is obtained.
The beneficial effects of the invention are as follows: a method of detecting robot movement gesture adjustment, comprising: step A, acquiring the moving speed and the moving position of a main carrier of a movable detection robot in a pipeline; b, symmetrically arranging a plurality of pairs of autorotation propellers and active balance propellers along the radial direction on the peripheral side of the main carrier, wherein the autorotation propellers and the active balance propellers are staggered in the axial direction of the main carrier; normally, the main carrier drifts in the flow direction of the fluid of the pipe over the intermediate flow channel; when entering the influence area of the leakage point, the autorotation propeller at the windward side starts to rotate under the influence of the vortex of water, and the main carrier is offset towards the direction of the leakage point; and C, driving an active balance propeller which is symmetrically arranged with the autorotation propeller to rotate, and driving the main carrier to return to the middle runner. The self-rotating screw propeller is arranged, so that vortex near a leakage point can be timely sensed, and the vortex is converted into a driving force for moving the main carrier through the bevel gear and the conical toothed ring, so that the main carrier is prevented from being impacted greatly and is changed into benefit; meanwhile, by means of the active balance propeller, the main carrier of the detection robot can flow in the middle runner, water carrying operation is achieved, and reliability of the detection process is guaranteed.
Drawings
The method for detecting the movement posture adjustment of the robot according to the present invention will be further described with reference to the accompanying drawings.
Fig. 1 is a flowchart of a first embodiment of a method of detecting robot movement gesture adjustment of the present invention.
Fig. 2 is a flowchart of a second embodiment of a method of detecting robot movement gesture adjustment of the present invention.
Fig. 3 is a schematic cross-sectional structure of an embodiment of a hardware portion of the method of detecting movement posture adjustment of a robot of the present invention.
Fig. 4 is a partial enlarged view at a of fig. 4 of the method of detecting movement posture adjustment of a robot of the present invention.
Fig. 5 is a layout diagram of a spinning propeller and an active balancing propeller of hardware of the method of detecting a robot movement posture adjustment of the present invention.
Fig. 6 is a schematic structural view of a main propulsion propeller of the method of detecting movement posture adjustment of a robot according to the present invention.
In the figure:
1-a main carrier; 11-a retraction hole; 21-a main propulsion propeller; 211-blades; 2111-water leakage holes; 22-rear propulsion propellers; 31-autorotation propellers; 32-actively balancing the propeller; 4-bevel gears; 5-conical toothed rings; a 6-encoder; 01-a camera; 02-a main control module; 03-a remote control terminal; 04-pressure relief hole.
Detailed Description
The technical scheme of the invention is further described below by referring to fig. 1-6 and specific embodiments.
Example 1
A method of detecting robot movement gesture adjustment, comprising:
step A, acquiring the moving speed and the moving position of a main carrier 1 of a movable detection robot in a pipeline;
step B, symmetrically arranging a plurality of pairs of autorotation propellers 31 and active balance propellers 32 along the radial direction on the peripheral side of the main carrier 1, wherein the autorotation propellers 31 and the active balance propellers 32 are staggered in the axial direction of the main carrier 1;
normally, the main carrier 1 drifts in the flow direction of the fluid of the pipe over the intermediate flow channel; when entering the leakage point influence area, the autorotation propeller 31 at the windward side starts to rotate under the influence of the vortex of water, and the main carrier 1 is deflected towards the leakage point;
and C, driving the active balance screw propeller 32 symmetrically arranged with the autorotation screw propeller 31 to rotate, and driving the main carrier 1 to return to the middle runner.
The position of the main carrier 1 in the liquid conveying pipeline can be actively adjusted by arranging the active balance propeller 32, so that the main carrier 1 is ensured to be positioned in the middle of the flow channel, and good working conditions are provided for photographing, infrared detection and the like; by providing the rotation propeller 31, the rotation speed, the angular acceleration, and the like of the rotation propeller 31 can be obtained, so that the size, the direction, and the like of the vortex at the leakage point can be calculated, and the position and the size of the leakage point can be judged by combining the speed and the position of the main carrier 1 moving in the pipeline.
In this embodiment, step B further includes:
the one or more active balance propellers 32 are dynamically driven to rotate respectively according to the bending and trend conditions of the pipeline at the position of the main carrier 1, and the influence of the bending and trend changes of the pipeline on the deviation of the main carrier 1 from the middle flow passage is balanced so as to drive the main carrier 1 to be kept on the middle flow passage. By providing an active self-balancing propeller 32, the position of the main carrier 1 in the liquid conduit can be adjusted and controlled as desired.
In this embodiment, three pairs of rotation propellers 31 and active balance propellers 32 are arranged on the peripheral side of the same position of the main carrier 1, and the rotation propellers 31 and the active balance propellers 32 are arranged at intervals. That is to say six propellers are provided on the peripheral side of the same position of the main carrier 1. The rotation propeller 31 and the active balance propeller 32 at adjacent positions in the circumferential axis direction of the main carrier 1 are arranged at intervals; that is, at least 12 propellers, 6 autorotation propellers 31 and 6 active balancing propellers 32 are provided on the peripheral side of the main carrier 1. The rotating screw propeller 31 on the peripheral side of the main carrier 1 can timely sense the vortex influence of a leakage point, and the position of the main carrier 1 in a flow channel is timely controlled through the active balance screw propeller 32. After the main carrier 1 deviates from the middle runner, the active balance screw propeller 32 symmetrically arranged with the autorotation screw propeller 31 is driven to rotate, so that the main carrier 1 is driven to return to the middle runner, the main carrier 1 of the detection robot can flow in the middle runner, the water carrying operation is realized, and the reliability of the detection process is ensured.
Example two
A method of detecting robot movement gesture adjustment, comprising:
step A, acquiring the moving speed and the moving position of a main carrier 1 of a movable detection robot in a pipeline;
step B, symmetrically arranging a plurality of pairs of autorotation propellers 31 and active balance propellers 32 along the radial direction on the peripheral side of the main carrier 1, wherein the autorotation propellers 31 and the active balance propellers 32 are staggered in the axial direction of the main carrier 1;
normally, the main carrier 1 drifts in the flow direction of the fluid of the pipe over the intermediate flow channel; when entering the leakage point influence area, the autorotation propeller 31 at the windward side starts to rotate under the influence of the vortex of water, and the main carrier 1 is deflected towards the leakage point;
step C, driving an active balance propeller 32 symmetrically arranged with the autorotation propeller 31 to rotate so as to drive the main carrier 1 to return to the middle runner;
step D, acquiring the rotation angular velocity, acceleration and rotation number of the rotating propeller 31 on the windward side of the main carrier 1, and transmitting the rotation angular velocity, acceleration and rotation number to the remote control terminal 03 in a wireless mode;
step E, one side of the autorotation propeller 31 is provided with an encoder which is used for acquiring the rotation angular velocity, the acceleration and the rotation number of the autorotation propeller 31; the remote control terminal 03 calculates the position of the suspected leakage point and the size of the leakage point in the pipeline by combining the acquired speed and position of the main carrier 1 moving in the pipeline, the rotation angular speed, the acceleration and the rotation number of the rotating propeller 31.
In this embodiment of the bevel gear, after step D, before step E, the bevel gear further includes:
step D1: extracting data of the main carrier 1 deviating from the middle runner, and judging to enter a suspected leakage point influence area when the main carrier 1 continuously deviates from the middle runner and moves for more than a set duration and a set distance;
the set duration is more than 2S; the set distance is more than 15% of the radius of the pipeline;
e, after the main carrier 1 enters a suspected leakage point influence area, starting the step E; otherwise, step E is not started.
In this embodiment, the suspected leakage point influence area includes:
the main carrier 1 gradually approaches the leakage point from far to near and is influenced by the flow field of the suspected leakage point; or alternatively, the first and second heat exchangers may be,
the main carrier 1 gradually leaves the suspected leakage point from the far to the near and then from the near to the far, and is in the range influenced by the flow field of the suspected leakage point.
Step E further comprises:
measuring the distance between the main carrier 1 and the fluid of the offset pipeline by an infrared range finder;
the infrared range finders are multiple, and the infrared range finders are distributed on the periphery of the main carrier 1.
In the present embodiment, the rear part of the main carrier 1 is provided with more than 2 rear propulsion propellers 22 in sequence;
the rear propulsion propellers 22 adopt nested shafts, and each rear propulsion propeller 22 corresponds to one of the nested shafts;
the number of individual spinning propellers 31 is above 6,
the inner side of each rotating propeller 31 is coaxially connected with a bevel gear 4, and each bevel gear 4 is meshed with a conical toothed ring 5 in the main carrier 1;
each conical toothed ring 5 is sleeved on one of the sleeved shafts.
Normally, the main carrier 1 drifts in the flow direction of the fluid of the pipe over the intermediate flow channel; when entering the leakage point influence area, the autorotation propeller 31 at the windward side starts to rotate under the influence of the vortex of water, and the main carrier 1 is deflected towards the leakage point; the vortex near the leakage point can be timely perceived, and the vortex is converted into the driving force for the movement of the main carrier through the bevel gear 4 and the conical toothed ring 5, so that the main carrier is prevented from being impacted greatly and is harmful.
Example III
Step a, step B and step C of this embodiment refer to embodiment one.
In this embodiment, after step B, before step C, the method further includes:
step X, judging whether the main carrier 1 enters a leakage point influence area, if so, delaying to enter a step C, enabling the main carrier 1 to deviate from the center of a pipeline under the influence of vortex, starting the active balance propeller 32 when the distance between the main carrier 1 and the suspected leakage point reaches a set value, controlling the rotating speed and the rotating time of the active balance propeller 32, controlling the distance between the main carrier 1 and the middle of a flow channel, and enabling the camera 01 to photograph the suspected leakage point; and C, entering a step after photographing is finished.
The method has the significance of selecting the optimal photographing and shooting distance so as to provide good materials and data for subsequent image analysis.
In this embodiment, the main carrier 1 is internally provided with a balancing weight and an inflation/deflation adjusting mechanism, and the draft of the main carrier 1 is controlled to control the position of the main carrier 1 near the middle in the vertical direction of the pipeline in a conventional case.
The main carrier 1 can be controlled to move on the middle runner of the pipeline through the counterweight and the exhaust amount of the main carrier 1, the middle runner refers to the fluid direction of the intersecting line of the horizontal diameter and the vertical diameter of the pipeline, in the embodiment, the requirement of the middle runner is not required to be strict, and the main carrier 1 can be considered to be on the middle runner when drifting up and down and left and right or drifting up and down or drifting up and right in the middle runner is not more than 10% of the diameter of the pipeline; the front side (the upstream of water flow is defined as the front side) of the main carrier 1 is provided with a main pushing propeller 21, and the main pushing propeller 21 generates pushing force under the action of water flow to push the main carrier 1 to move along the water flow direction, so that electric energy can be saved, and the integral cruising ability of the system is improved; when the main carrier 1 enters the flow field, the rotation propeller 31 at the peripheral side of the main carrier 1 starts to rotate under the pushing action of the flow field, the rotation angular velocity, acceleration and rotation number of the rotation propeller 31 can be counted through an encoder coaxially arranged with the rotation propeller, and the rotation condition of the rotation propeller 31 at different positions of the same flow field is recorded, so that the distribution of the flow field can be obtained, and the position of a suspected leakage point can be determined.
Normal situation means: the pipeline is not bent, has no side flow, is not turned and is not leaked.
In this embodiment, the front end of the main carrier 1 is provided with a main propulsion propeller 21, and the main propulsion propeller 21 pushes the main carrier 1 forward in the pipe conveying direction by means of the pushing force of water flow.
The main propulsion propeller 21 is provided with a micro flowmeter; the flow velocity difference between the main carrier 1 and the liquid in the pipe is calculated by a micro flow meter.
How to judge whether the main carrier 1 enters the leakage point influence area or not, extracting data of the main carrier 1 deviating from the middle flow channel, and judging that the main carrier 1 enters the suspected leakage point influence area when the main carrier 1 continuously deviates from the middle flow channel and moves for more than a set time length and a set distance;
the set duration is more than 2S; the set distance is more than 15% of the radius of the pipeline; c, after the main carrier 1 enters a suspected leakage point influence area, starting the step C; otherwise, the step C is not started;
and C, the remote control terminal 03 calculates the position of the suspected leakage point in the pipeline by combining the acquired moving speed and position of the main carrier 1 in the pipeline, the rotating angle speed, the acceleration and the rotating number of turns of the rotating propeller 31.
In the embodiment, more than 2 groups of rotation propellers 31 are distributed on the periphery side of the main carrier 1 from front to back, and more than 2 rear propulsion propellers 22 are sequentially arranged on the rear part of the main carrier 1;
the rear propulsion propellers 22 adopt nested shafts, and each rear propulsion propeller 22 corresponds to one of the nested shafts;
the number of the individual autorotation propellers 31 in each group is more than 4, and the autorotation propellers 31 in each group are uniformly arranged on the periphery of the main carrier 1;
the inner side of each rotating propeller 31 is coaxially connected with a bevel gear 4, and the same group of bevel gears 4 are meshed with a conical toothed ring 5 in a main carrier 1;
each conical toothed ring 5 is sleeved on one of the sleeved shafts.
In this embodiment, step B1 further includes:
step B11, separating the influence of bending and steering of the pipeline on the movement of the main carrier 1 by combining the distance between the main carrier 1 and the peripheral side of the pipeline, which is measured by an infrared range finder, and the situation that the main carrier 1 deviates from the middle flow channel;
the active balance propeller 32 is driven to work, the trend of the main carrier 1 is regulated, and the influence of bending and steering of the pipeline on the deviation of the main carrier 1 from the middle of the runner is removed.
In this embodiment, step B11 further includes:
measuring the distance between the main carrier 1 and the fluid of the offset pipeline by an infrared range finder; the infrared range finders are multiple, and the infrared range finders are distributed on the periphery of the main carrier 1.
The infrared range finder is started after the main carrier 1 enters a suspected leakage point influence area, so that the electric energy consumption is reduced; the infrared detector can accurately measure the position of the main carrier 1 deviating from the center of the pipeline, meanwhile, the auxiliary camera 01 of the infrared range finder can be used as an important auxiliary parameter for accurately calculating the suspected leakage point depth, the centrifugal distance of the suspected leakage point is larger, and the depth of the suspected leakage point can be accurately calculated according to the larger specific value by means of the normal eccentric distance.
The invention also provides a specific device based on the method for detecting the movement posture adjustment of the robot, which comprises a movable main carrier 1 and a camera 01 carried on the main carrier 1 for shooting images, wherein the whole main carrier 1 is cylindrical, a main propulsion propeller 21 and a rear propulsion propeller 22 are respectively arranged on the front side and the rear side of the main carrier 1, the main propulsion propeller 21 extends out of the main carrier 1, and the rear propulsion propeller 22 is positioned in a retraction hole 11 on the rear side of the main carrier 1;
the bottom of the main carrier 1 is heavy, the upper part is light, an encoder 6 for measuring the angular velocity and the rotation number of the rotation screw propeller 31 is arranged on the connecting shaft of each bevel gear 4 and the rotation screw propeller 31, a main control module 02 is arranged in the main carrier 1, and the main control module 02 transmits the angular velocity and the rotation number of the rotation screw propeller 31 to a remote control terminal 03 in a wireless mode;
the remote control terminal 03 judges the fluid environment on the circumference side of the main carrier 1 according to the rotation angular velocity, acceleration and rotation number of each rotation propeller 31;
n is a natural number.
The whole main carrier 1 is cylindrical, so that the resistance of liquid can be reduced, the main carrier 1 floats in a pipeline, the measurement work under the pipeline working environment is realized, and the main propulsion propeller 21 extends out of the main carrier 1, so that the thrust in the liquid flowing direction can be better received, and the better boosting effect is realized; the rear propulsion propeller 22 is positioned in the retraction hole 11 at the rear side of the main carrier 1, so that the rear recommended propeller 22 is prevented from generating moving resistance in a non-working state; the main propulsion propeller 21 realizes the movement of the whole system and the main carrier 1 mainly by means of the thrust of water flow, can save electric energy and solve the problems of power and long-distance movement; before and after the leakage point, the main carrier 1 is influenced by the water flow direction and moves away from the center, at the moment, the autorotation propeller 31 at the upstream side starts to rotate, the lateral thrust at the leakage point is converted into forward moving power by the bevel gear 4, the conical toothed ring 5 and the rear propulsion propeller 22, the connecting shaft of each bevel gear 4 and the autorotation propeller 31 is provided with an encoder 6 for measuring the angular speed, the angular acceleration and the rotation number of the autorotation propeller 31, the main carrier 1 is internally provided with a main control module 02, the main control module 02 sends the angular speed, the angular acceleration and the rotation number of the autorotation propeller 31 to the remote control terminal 03 in a wireless mode, and the remote control terminal 03 can determine the size and the position of the suspected leakage point according to the angular speed, the angular acceleration and the rotation number of the autorotation propeller 31; after the main carrier 1 deviates from the central flow channel by a set distance, the camera 01 is started to start shooting, so that shooting actions can be aimed at, and disordered and invalid shooting is avoided; the bottom of the main carrier 1 is heavy, the upper part is light, the upright state is kept in the moving process, the positioning and the working of each rotating screw propeller 31 are facilitated, and the remote control terminal 03 judges the fluid environment at the periphery of the main carrier according to the rotation angular velocity, the acceleration and the rotation number of each rotating screw propeller 31, so that an improved method for detecting the moving posture adjustment of the robot is obtained, the defects of the prior art are overcome, and the pipeline leakage point is accurately, quickly and cruising in a long distance by adopting a wireless form and a fixed-point shooting technology.
In this embodiment, the main carrier 1 is further provided with a positioning module, and the main carrier 1 can be tracked in real time by the positioning module, so that the position deviation is within 3 meters, which is smaller than the length of a single pipe of the water pipe, and the positioning of the pipeline level can be realized, and then the accurate positioning of the leakage point can be realized by means of the data of the autorotation propeller 31.
In this embodiment, N is 1, and N may be 2, 3, 4, or 5 … … as needed.
The active balance propellers 32 are also used for accurately hovering the main carrier 1, the rotating speed of each active balance propeller 32 is controlled, the main carrier 1 can adapt to the flow field environment at the set position, so that the main carrier is accurately hovered at the required position, and the camera 01 is used for accurately shooting, so that clear images of leakage points are shot.
In this embodiment, a plurality of infrared rangefinders are also uniformly arranged on the peripheral side of the main carrier 1, and the infrared rangefinders are used for measuring the distance between the main carrier 1 and the fluid of the offset pipeline; the infrared range finder can be used for assisting in measuring the position of the main carrier 1 deviating from the center of the flow channel, so as to judge the acting force received by the main carrier 1; the infrared rangefinder is also used to measure the drift of the main carrier 1 occurring in the radial direction.
The main control module 02 controls the rotation speed and rotation time of the active balance screw 32 according to the measured offset distance, so that the main carrier 1 returns to the fluid middle position of the pipeline.
In this embodiment, the outer side wall of the main carrier 1 is provided with an array of stepped holes, and the rotating propeller 31 is embedded in the outer hole portion of the stepped holes, and the mounting shaft of the rotating propeller 31 extends into the main carrier 1 through the inner hole portion of the stepped holes.
In this embodiment, when the main carrier 1 is radially offset, the main control module 02 controls the camera 01 to take a picture of the suspected leakage point.
In the embodiment, more than 3 blades 211 of the main propulsion propeller 21 are provided, and water leakage holes 2111 capable of being opened and closed are formed in the blades 211; the water leakage hole 2111 is provided with a rotary baffle plate, the rotary baffle plate is coaxially arranged with the main propulsion propeller 21, a driving shaft of the rotary baffle plate is a hollow shaft, and the hollow shaft is arranged outside a rotating shaft (mounting shaft) of the main propulsion propeller 21. The water leakage amount of the water leakage hole 2111 can be controlled by controlling the unscrewing angle of the rotary baffle plate, so that the thrust force received by the main recommendation propeller 21 is controlled, and the moving speed of the main carrier 1 is controlled.
The front end of the main carrier 1 is provided with a pressure relief hole 04, the water inlet end of the pressure relief hole 04 is positioned at the front end of the main carrier 1, and the water outlet end of the pressure relief hole 04 is positioned at the side part of the front end of the main carrier 1.
In this embodiment, the main carrier 1 returns to the middle position of the fluid in the pipeline, the main control module 02 controls the main carrier 1 to hover for more than 1 second, and the main control module 02 sends out accurate positioning information in a wireless mode.
In the embodiment, the number of cameras 01 is more than 3, the cameras 01 are uniformly distributed on the periphery of the main carrier 1, and the cameras 01 are positioned on the periphery of the lower part of the active balance screw 32; each active balance propeller 32 rotates synchronously, and when the active balance propeller 32 rotates, the water flow at the periphery moves, so that the surface of the camera 01 can be cleaned, and meanwhile, the active balance propeller 32 cannot block the camera 01.
In the embodiment, the number of cameras 01 is more than 3, the cameras 01 are uniformly distributed on the periphery of the main carrier 1, and the cameras 01 are also positioned on the periphery of the lower part of the rotating propeller 31; when each rotation propeller 31 rotates, the water flow at the peripheral side moves and swirls, so that the surface of the camera 01 can be cleaned, and at the same time, the rotation propeller 32 does not block the camera 01.
In this embodiment, the main propulsion propeller 21, the rear propulsion propeller 22, the rotation propeller 31, the active balance propeller 32, and the outside of the pressure release hole 04 are provided with shields.
The technical solutions of the above embodiments of the present invention can be cross-combined with each other to form a new technical solution, and in addition, all technical solutions formed by equivalent substitution fall within the scope of protection claimed by the present invention.
Claims (9)
1. A method of detecting movement pose adjustment of a robot, comprising:
step A, acquiring the moving speed and the moving position of a main carrier (1) of a movable detection robot in a pipeline;
b, symmetrically arranging a plurality of pairs of autorotation propellers (31) and active balance propellers (32) along the radial direction on the peripheral side of the main carrier (1), wherein the autorotation propellers (31) and the active balance propellers (32) are staggered in the axial direction of the main carrier (1);
normally, the main carrier (1) drifts in the flow direction of the fluid of the pipe over the intermediate flow channel; when entering a leakage point influence area, the autorotation propeller (31) at the windward side starts to rotate under the influence of the vortex of water, and meanwhile, the main carrier (1) deflects towards the direction of the leakage point;
step C, driving an active balance propeller (32) symmetrically arranged with the autorotation propeller (31) to rotate, and driving the main carrier (1) to return to the middle runner;
after the step C, the method further includes:
step D, acquiring the rotation angular velocity, acceleration and rotation number of the rotating propeller (31) on the windward side of the main carrier (1), and transmitting the rotation angular velocity, acceleration and rotation number to a remote control terminal (03) in a wireless mode;
e, the remote control terminal (03) is used for calculating the position of a suspected leakage point in the pipeline by combining the acquired moving speed and position of the main carrier (1) in the pipeline and the rotating angular speed, acceleration and rotation number of the rotating propeller (31).
2. The method of detecting robot movement pose adjustment according to claim 1, wherein the step B further comprises:
and dynamically driving one or more active balance propellers (32) to rotate respectively according to the bending and trend conditions of the pipeline at the position of the main carrier (1), and balancing the influence of the bending and trend changes of the pipeline on the deviation of the main carrier (1) from the middle flow passage so as to drive the main carrier (1) to be kept on the middle flow passage.
3. Method for detecting the movement posture adjustment of a robot according to claim 1, characterized in that three pairs of spinning propellers (31) and active balancing propellers (32) are arranged on the circumference side of the same position of the main carrier (1), and the spinning propellers (31) and the active balancing propellers (32) are arranged at intervals.
4. A method of detecting movement posture adjustment of a robot according to claim 3, characterized in that at least six pairs of rotation propellers (31) are provided on the peripheral side of the main carrier (1), and the rotation propellers (31) and the active balance propellers (32) at adjacent positions in the peripheral axial direction of the main carrier (1) are provided at intervals.
5. The method for detecting robot movement gesture adjustment according to claim 1, wherein after the step D, the step E is preceded by further comprising:
step D1: extracting data of the main carrier (1) deviating from the middle runner, and judging to enter a suspected leakage point influence area when the main carrier (1) continuously deviates from the middle runner and moves for more than a set duration and a set distance;
the set duration is more than 2S; the set distance is more than 15% of the radius of the pipeline;
e, after the main carrier (1) enters the suspected leakage point influence area, starting the step E; otherwise, step E is not started.
6. The method of detecting robotic movement pose adjustment of claim 5, wherein said suspected leak point impact region comprises:
the main carrier (1) gradually approaches the leakage point from far to near and is influenced by the flow field of the suspected leakage point; or alternatively, the first and second heat exchangers may be,
the main carrier (1) gradually leaves the suspected leakage point from the near to the near and then from the near to the far, and is in the range influenced by the flow field of the suspected leakage point; the step E further comprises the following steps:
measuring the distance of the main carrier (1) from the middle of the fluid of the pipeline by an infrared distance meter;
the infrared range finders are distributed on the periphery of the main carrier (1).
7. The method for detecting the movement posture adjustment of the robot according to claim 6, characterized in that the rear part of the main carrier (1) is sequentially provided with more than 2 rear propulsion propellers (22);
the rear propulsion propellers (22) adopt nested shafts, and each rear propulsion propeller (22) corresponds to one of the nested shafts;
the number of the individual self-rotating propellers (31) is more than 4,
the inner side of each rotating propeller (31) is coaxially connected with a bevel gear (4), and each bevel gear (4) is meshed with a conical toothed ring (5) in one main carrier (1);
each conical toothed ring (5) is sleeved on one of the sleeved shafts.
8. The method for detecting robot movement gesture adjustment of claim 7, further comprising, after the step B, before the step C:
step X, judging whether the main carrier (1) enters a leakage point influence area, if so, delaying to enter the step C, enabling the main carrier (1) to deviate from the center of a pipeline under the influence of vortex, starting an active balance screw (32) when the distance between the main carrier (1) and the suspected leakage point reaches a set value, controlling the rotating speed and the rotating time of the active balance screw (32), thereby controlling the distance between the main carrier (1) and the middle of a flow channel, and enabling a camera (01) to photograph the suspected leakage point; and C, entering a step after photographing is finished.
9. Method for detecting the regulation of the movement gesture of a robot according to claim 8, characterized in that a balancing weight and an air charge and discharge regulating mechanism are provided inside the main carrier (1), controlling the draft of the main carrier (1) to control the main carrier (1) in a position, in the normal condition, close to the middle in the vertical direction of the pipe;
the normal situation refers to: the pipeline is not bent, has no side flow, is not turned and is not leaked.
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